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<div class="title">image_viewer.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;vtkVersion.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;vtkContextActor.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vtkContextScene.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;vtkImageData.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;vtkImageFlip.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;vtkPointData.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;vtkImageViewer.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/common/common.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/search/organized.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#ab92156a468bec6ed9424d1d082767c06">   55</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#ab92156a468bec6ed9424d1d082767c06">pcl::visualization::ImageViewer::convertRGBCloudToUChar</a> (</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    boost::shared_array&lt;unsigned char&gt; &amp;data)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    data[j++] = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].r;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    data[j++] = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].g;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    data[j++] = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].b;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#af350a394ba65506f84f2b140c22b5063">   70</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#ab3340b7e8cc80f3cf4276dfcbb589fe5">pcl::visualization::ImageViewer::addRGBImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                                              <span class="keyword">const</span> std::string &amp;layer_id,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                                              <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (data_size_ &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    data_size_ = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> * 3;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    data_.reset (<span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[data_size_]);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  convertRGBCloudToUChar (cloud, data_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">return</span> (addRGBImage (data_.get (), cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, layer_id, opacity));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a58b93c1bd507c07366a80e52f8c20a61">   87</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a33e79bc49719cc7e2005f3cf76bff1f6">pcl::visualization::ImageViewer::showRGBImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                                               <span class="keyword">const</span> std::string &amp;layer_id,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                               <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  addRGBImage&lt;T&gt; (cloud, layer_id, opacity);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  render ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a0081a79231feea5c4802b075cc6a3e4f">   97</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0081a79231feea5c4802b075cc6a3e4f">pcl::visualization::ImageViewer::addMask</a> (</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;mask, </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;{</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// We assume that the data passed into image is organized, otherwise this doesn&#39;t make sense</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">if</span> (!image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), <a class="code" href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">LayerComparator</a> (layer_id));</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">if</span> (am_it == layer_map_.end ())</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addMask] No layer with ID&#39;=%s&#39; found. Creating new one...\n&quot;</span>, layer_id.c_str ());</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Construct a search object to get the camera parameters</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;T&gt;</a> search;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">setInputCloud</a> (image);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  std::vector&lt;float&gt; xy;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  xy.reserve (mask.size () * 2);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; mask.size (); ++i)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> p_projected;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (mask[i], p_projected);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    xy.push_back (p_projected.x);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="preprocessor">    #if ((VTK_MAJOR_VERSION &gt;= 6) || ((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &gt; 7)))</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    xy.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - p_projected.y);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor">    #else</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    xy.push_back (p_projected.y);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="preprocessor">    #endif</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Points&gt;</a> points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Points&gt;::New</a> ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  points-&gt;setColors (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (r*255.0), </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                     <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (g*255.0), </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                     <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (b*255.0));</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  points-&gt;setOpacity (opacity);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  points-&gt;set (xy);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (points);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#ad2d188a481a99c689d953521387490f2">  145</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0081a79231feea5c4802b075cc6a3e4f">pcl::visualization::ImageViewer::addMask</a> (</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;mask, </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;{</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">return</span> (addMask (image, mask, 1.0, 0.0, 0.0, layer_id, opacity));</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a60432695a77a6641254431714a3412d9">  155</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a60432695a77a6641254431714a3412d9">pcl::visualization::ImageViewer::addPlanarPolygon</a> (</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon&lt;T&gt;</a> &amp;polygon, </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// We assume that the data passed into image is organized, otherwise this doesn&#39;t make sense</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">if</span> (!image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), <a class="code" href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">LayerComparator</a> (layer_id));</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">if</span> (am_it == layer_map_.end ())</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addPlanarPolygon] No layer with ID&#39;=%s&#39; found. Creating new one...\n&quot;</span>, layer_id.c_str ());</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">// Construct a search object to get the camera parameters and fill points</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;T&gt;</a> search;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">setInputCloud</a> (image);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  std::vector&lt;float&gt; xy;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  xy.reserve ((polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().size () + 1) * 2);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().size (); ++i)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> p;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[i], p);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    xy.push_back (p.x);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">    #if ((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &lt;= 7))</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    xy.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - p.y);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">    #else</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    xy.push_back (p.y);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">    #endif</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// Close the polygon</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  xy[xy.size () - 2] = xy[0];</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  xy[xy.size () - 1] = xy[1];</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Polygon&gt;</a> poly = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Polygon&gt;::New</a> ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  poly-&gt;setColors (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (r * 255.0), </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (g * 255.0), </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (b * 255.0));</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  poly-&gt;setOpacity (opacity);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  poly-&gt;set (xy);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (poly);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;}</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#ab60d5c2a9f640784af85f9b4641e9de1">  207</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a60432695a77a6641254431714a3412d9">pcl::visualization::ImageViewer::addPlanarPolygon</a> (</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon&lt;T&gt;</a> &amp;polygon, </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">return</span> (addPlanarPolygon (image, polygon, 1.0, 0.0, 0.0, layer_id, opacity));</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#ad03c741567c6053e5aa456d2098b8325">  217</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0eae37d9f7fdd3e71dc95bea071198f3">pcl::visualization::ImageViewer::addRectangle</a> (</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">const</span> T &amp;min_pt,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">const</span> T &amp;max_pt,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;{</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// We assume that the data passed into image is organized, otherwise this doesn&#39;t make sense</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">if</span> (!image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), <a class="code" href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">LayerComparator</a> (layer_id));</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">if</span> (am_it == layer_map_.end ())</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addRectangle] No layer with ID&#39;=%s&#39; found. Creating new one...\n&quot;</span>, layer_id.c_str ());</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">// Construct a search object to get the camera parameters</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;T&gt;</a> search;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">setInputCloud</a> (image);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// Project the 8 corners</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  T p1, p2, p3, p4, p5, p6, p7, p8;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  p1.x = min_pt.x; p1.y = min_pt.y; p1.z = min_pt.z;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  p2.x = min_pt.x; p2.y = min_pt.y; p2.z = max_pt.z;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  p3.x = min_pt.x; p3.y = max_pt.y; p3.z = min_pt.z;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  p4.x = min_pt.x; p4.y = max_pt.y; p4.z = max_pt.z;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  p5.x = max_pt.x; p5.y = min_pt.y; p5.z = min_pt.z;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  p6.x = max_pt.x; p6.y = min_pt.y; p6.z = max_pt.z;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  p7.x = max_pt.x; p7.y = max_pt.y; p7.z = min_pt.z;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  p8.x = max_pt.x; p8.y = max_pt.y; p8.z = max_pt.z;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  std::vector&lt;pcl::PointXY&gt; pp_2d (8);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p1, pp_2d[0]);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p2, pp_2d[1]);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p3, pp_2d[2]);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p4, pp_2d[3]);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p5, pp_2d[4]);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p6, pp_2d[5]);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p7, pp_2d[6]);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (p8, pp_2d[7]);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> min_pt_2d, max_pt_2d;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  min_pt_2d.x = min_pt_2d.y = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  max_pt_2d.x = max_pt_2d.y = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="comment">// Search for the two extrema</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; pp_2d.size (); ++i)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].x &lt; min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].y &lt; min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].x &gt; max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].y &gt; max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#if ((VTK_MAJOR_VERSION &gt;= 6) || ((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &gt; 7)))</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  min_pt_2d.y = float (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - min_pt_2d.y;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  max_pt_2d.y = float (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - max_pt_2d.y;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Rectangle&gt;</a> rect = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Rectangle&gt;::New</a> ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  rect-&gt;setColors (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * r), </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * g), </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * b));</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  rect-&gt;setOpacity (opacity);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  rect-&gt;set (min_pt_2d.x, min_pt_2d.y, max_pt_2d.x, max_pt_2d.y);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (rect);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;}</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a4bf9386f204a0d0fb67aeb0ea3257f5d">  289</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0eae37d9f7fdd3e71dc95bea071198f3">pcl::visualization::ImageViewer::addRectangle</a> (</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keyword">const</span> T &amp;min_pt,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">const</span> T &amp;max_pt,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;{</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordflow">return</span> (addRectangle&lt;T&gt; (image, min_pt, max_pt, 0.0, 1.0, 0.0, layer_id, opacity));</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;}</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#aa6a59e02982ffa5a0dae843b83f0555e">  300</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0eae37d9f7fdd3e71dc95bea071198f3">pcl::visualization::ImageViewer::addRectangle</a> (</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;mask, </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b,</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="comment">// We assume that the data passed into image is organized, otherwise this doesn&#39;t make sense</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keywordflow">if</span> (!image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), <a class="code" href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">LayerComparator</a> (layer_id));</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">if</span> (am_it == layer_map_.end ())</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addRectangle] No layer with ID&#39;=%s&#39; found. Creating new one...\n&quot;</span>, layer_id.c_str ());</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="comment">// Construct a search object to get the camera parameters</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;T&gt;</a> search;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">setInputCloud</a> (image);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  std::vector&lt;pcl::PointXY&gt; pp_2d (mask.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; mask.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    search.<a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">projectPoint</a> (mask.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], pp_2d[i]);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> min_pt_2d, max_pt_2d;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  min_pt_2d.x = min_pt_2d.y = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  max_pt_2d.x = max_pt_2d.y = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="comment">// Search for the two extrema</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; pp_2d.size (); ++i)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].x &lt; min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].y &lt; min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].x &gt; max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">if</span> (pp_2d[i].y &gt; max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor">#if ((VTK_MAJOR_VERSION &gt;= 6) ||((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &gt; 7)))</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  min_pt_2d.y = float (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - min_pt_2d.y;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  max_pt_2d.y = float (image-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>) - max_pt_2d.y;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Rectangle&gt;</a> rect = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Rectangle&gt;::New</a> ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  rect-&gt;setColors (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * r), </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * g), </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * b));</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  rect-&gt;setOpacity (opacity);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  rect-&gt;set (min_pt_2d.x, min_pt_2d.y, max_pt_2d.x, max_pt_2d.y);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (rect);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a7e3d4676de11f0f9848e70791e889938">  354</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a0eae37d9f7fdd3e71dc95bea071198f3">pcl::visualization::ImageViewer::addRectangle</a> (</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;T&gt;::ConstPtr &amp;image,</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;T&gt;</a> &amp;mask, </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keyword">const</span> std::string &amp;layer_id, <span class="keywordtype">double</span> opacity)</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;{</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keywordflow">return</span> (addRectangle (image, mask, 0.0, 1.0, 0.0, layer_id, opacity));</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;}</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_image_viewer.html#a96b3ea6d603b69d1615e778a8b44c26c">  364</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html#a96b3ea6d603b69d1615e778a8b44c26c">pcl::visualization::ImageViewer::showCorrespondences</a> (</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;source_img,</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;target_img,</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <span class="keywordtype">int</span> nth,</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <span class="keyword">const</span> std::string &amp;layer_id)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;{</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">if</span> (correspondences.empty ())</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addCorrespondences] An empty set of correspondences given! Nothing to display.\n&quot;</span>);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), <a class="code" href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">LayerComparator</a> (layer_id));</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keywordflow">if</span> (am_it == layer_map_.end ())</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::visualization::ImageViewer::addCorrespondences] No layer with ID=&#39;%s&#39; found. Creating new one...\n&quot;</span>, layer_id.c_str ());</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    am_it = createLayer (layer_id, source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, std::max (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>), 1.0, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordtype">int</span> src_size = source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> * 3;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordtype">int</span> tgt_size = target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> * 3;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="comment">// Set window size</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  setSize (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> , std::max (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="comment">// Set data size</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordflow">if</span> (data_size_ &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (src_size + tgt_size))</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    data_size_ = src_size + tgt_size;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    data_.reset (<span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[data_size_]);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="comment">// Copy data in VTK format</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; std::max (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>); ++i)</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="comment">// Still need to copy the source?</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="keywordflow">if</span> (i &lt; source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>; ++k)</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        data_[j++] = source_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].r;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        data_[j++] = source_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].g;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        data_[j++] = source_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].b;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      memcpy (&amp;data_[j], 0, source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * 3);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      j += source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * 3;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="comment">// Still need to copy the target?</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">if</span> (i &lt; source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    {</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>; ++k)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        data_[j++] = target_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].r;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        data_[j++] = target_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].g;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        data_[j++] = target_img[i * source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + k].b;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    }</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      memcpy (&amp;data_[j], 0, target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * 3);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      j += target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * 3;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="keywordtype">void</span>* data = <span class="keyword">const_cast&lt;</span><span class="keywordtype">void</span>*<span class="keyword">&gt;</span> (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">void</span>*<span class="keyword">&gt;</span> (data_.get ()));</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkImageData&gt;</a> image = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkImageData&gt;::New</a> ();</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  image-&gt;SetDimensions (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, std::max (source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>), 1);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  image-&gt;SetScalarTypeToUnsignedChar ();</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  image-&gt;SetNumberOfScalarComponents (3);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  image-&gt;AllocateScalars ();</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  image-&gt;AllocateScalars (VTK_UNSIGNED_CHAR, 3);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  image-&gt;GetPointData ()-&gt;GetScalars ()-&gt;SetVoidArray (data, data_size_, 1);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;PCLContextImageItem&gt;</a> image_item = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;PCLContextImageItem&gt;::New</a> ();</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="preprocessor">#if ((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &lt;= 10))</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="comment">// Now create filter and set previously created transformation</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  algo_-&gt;SetInput (image);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  algo_-&gt;Update ();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  image_item-&gt;set (0, 0, algo_-&gt;GetOutput ());</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  image_item-&gt;set (0, 0, image);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  interactor_style_-&gt;adjustCamera (image, ren_);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (image_item);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  image_viewer_-&gt;SetSize (image-&gt;GetDimensions ()[0], image-&gt;GetDimensions ()[1]);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <span class="comment">// Draw lines between the best corresponding points</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; correspondences.size (); i += nth)</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  {</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordtype">double</span> r, g, b;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    getRandomColors (r, g, b);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> u_r = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * r);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> u_g = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * g);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> u_b = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (255.0 * b);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Circle&gt;</a> query_circle = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Circle&gt;::New</a> ();</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    query_circle-&gt;setColors (u_r, u_g, u_b);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Circle&gt;</a> match_circle = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Circle&gt;::New</a> ();</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    match_circle-&gt;setColors (u_r, u_g, u_b);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Line&gt;</a> line = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;context_items::Line&gt;::New</a> ();</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    line-&gt;setColors (u_r, u_g, u_b);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    <span class="keywordtype">float</span> query_x = correspondences[i].index_query % source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordtype">float</span> match_x = correspondences[i].index_match % target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="preprocessor">#if ((VTK_MAJOR_VERSION == 5) &amp;&amp; (VTK_MINOR_VERSION &gt; 10))</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="keywordtype">float</span> query_y = correspondences[i].index_query / source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="keywordtype">float</span> match_y = correspondences[i].index_match / target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="keywordtype">float</span> query_y = getSize ()[1] - correspondences[i].index_query / source_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordtype">float</span> match_y = getSize ()[1] - correspondences[i].index_match / target_img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    query_circle-&gt;set (query_x, query_y, 3.0);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    match_circle-&gt;set (match_x, match_y, 3.0);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    line-&gt;set (query_x, query_y, match_x, match_y);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (query_circle);</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (match_circle);</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    am_it-&gt;actor-&gt;GetScene ()-&gt;AddItem (line);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;}</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="preprocessor">#endif      </span><span class="comment">// PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_planar_polygon_html"><div class="ttname"><a href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon</a></div><div class="ttdoc">PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.</div><div class="ttdef"><b>Definition:</b> planar_polygon.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_planar_polygon_html_ac657798ccb001cc71aafdf2f683f2c4b"><div class="ttname"><a href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">pcl::PlanarPolygon::getContour</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::VectorType &amp; getContour()</div><div class="ttdoc">Getter for the contour / boundary</div><div class="ttdef"><b>Definition:</b> planar_polygon.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.</div><div class="ttdef"><b>Definition:</b> organized.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_a7a5330aaf077e0833d59b51b23144996"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#a7a5330aaf077e0833d59b51b23144996">pcl::search::OrganizedNeighbor::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input data set, if user has focal length he must set it before calling this</div><div class="ttdef"><b>Definition:</b> organized.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html_aca8b03a28a893389fe2a2153c3f657a2"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html#aca8b03a28a893389fe2a2153c3f657a2">pcl::search::OrganizedNeighbor::projectPoint</a></div><div class="ttdeci">bool projectPoint(const PointT &amp;p, pcl::PointXY &amp;q) const</div><div class="ttdoc">projects a point into the image</div><div class="ttdef"><b>Definition:</b> organized.hpp:382</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_a0081a79231feea5c4802b075cc6a3e4f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#a0081a79231feea5c4802b075cc6a3e4f">pcl::visualization::ImageViewer::addMask</a></div><div class="ttdeci">bool addMask(const typename pcl::PointCloud&lt; T &gt;::ConstPtr &amp;image, const pcl::PointCloud&lt; T &gt; &amp;mask, double r, double g, double b, const std::string &amp;layer_id=&quot;image_mask&quot;, double opacity=0.5)</div><div class="ttdoc">Add a generic 2D mask to an image</div><div class="ttdef"><b>Definition:</b> image_viewer.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_a0eae37d9f7fdd3e71dc95bea071198f3"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#a0eae37d9f7fdd3e71dc95bea071198f3">pcl::visualization::ImageViewer::addRectangle</a></div><div class="ttdeci">bool addRectangle(const pcl::PointXY &amp;min_pt, const pcl::PointXY &amp;max_pt, const std::string &amp;layer_id=&quot;rectangles&quot;, double opacity=1.0)</div><div class="ttdoc">Add a 2D box and color its edges with a given color</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_a33e79bc49719cc7e2005f3cf76bff1f6"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#a33e79bc49719cc7e2005f3cf76bff1f6">pcl::visualization::ImageViewer::showRGBImage</a></div><div class="ttdeci">void showRGBImage(const unsigned char *data, unsigned width, unsigned height, const std::string &amp;layer_id=&quot;rgb_image&quot;, double opacity=1.0)</div><div class="ttdoc">Show a 2D RGB image on screen.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_a60432695a77a6641254431714a3412d9"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#a60432695a77a6641254431714a3412d9">pcl::visualization::ImageViewer::addPlanarPolygon</a></div><div class="ttdeci">bool addPlanarPolygon(const typename pcl::PointCloud&lt; T &gt;::ConstPtr &amp;image, const pcl::PlanarPolygon&lt; T &gt; &amp;polygon, double r, double g, double b, const std::string &amp;layer_id=&quot;planar_polygon&quot;, double opacity=1.0)</div><div class="ttdoc">Add a generic 2D planar polygon to an image</div><div class="ttdef"><b>Definition:</b> image_viewer.hpp:155</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_a96b3ea6d603b69d1615e778a8b44c26c"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#a96b3ea6d603b69d1615e778a8b44c26c">pcl::visualization::ImageViewer::showCorrespondences</a></div><div class="ttdeci">bool showCorrespondences(const pcl::PointCloud&lt; PointT &gt; &amp;source_img, const pcl::PointCloud&lt; PointT &gt; &amp;target_img, const pcl::Correspondences &amp;correspondences, int nth=1, const std::string &amp;layer_id=&quot;correspondences&quot;)</div><div class="ttdoc">Add the specified correspondences to the display.</div><div class="ttdef"><b>Definition:</b> image_viewer.hpp:364</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_ab3340b7e8cc80f3cf4276dfcbb589fe5"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#ab3340b7e8cc80f3cf4276dfcbb589fe5">pcl::visualization::ImageViewer::addRGBImage</a></div><div class="ttdeci">void addRGBImage(const unsigned char *data, unsigned width, unsigned height, const std::string &amp;layer_id=&quot;rgb_image&quot;, double opacity=1.0)</div><div class="ttdoc">Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html_ab92156a468bec6ed9424d1d082767c06"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html#ab92156a468bec6ed9424d1d082767c06">pcl::visualization::ImageViewer::convertRGBCloudToUChar</a></div><div class="ttdeci">void convertRGBCloudToUChar(const pcl::PointCloud&lt; T &gt; &amp;cloud, boost::shared_array&lt; unsigned char &gt; &amp;data)</div><div class="ttdoc">Convert the RGB information in a PointCloud&lt;T&gt; to an unsigned char array</div><div class="ttdef"><b>Definition:</b> image_viewer.hpp:55</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator_html"><div class="ttname"><a href="structpcl_1_1visualization_1_1_image_viewer_1_1_layer_comparator.html">pcl::visualization::ImageViewer::LayerComparator</a></div><div class="ttdef"><b>Definition:</b> image_viewer.h:1050</div></div>
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